Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization.
More...
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| hpp::core::continuousCollisionChecking::dichotomy::HPP_PREDEF_CLASS (BodyPairCollision) |
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static DichotomyPtr_t | hpp::core::continuousCollisionChecking::Dichotomy::create (const DevicePtr_t &robot, const value_type &tolerance) |
| Create instance and return shared pointer. More...
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virtual bool | hpp::core::continuousCollisionChecking::Dichotomy::validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart) |
| Compute a valid interval starting from the path beginning. More...
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virtual bool | hpp::core::continuousCollisionChecking::Dichotomy::validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, ValidationReport &report) |
| Compute a valid interval starting from the path beginning. More...
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virtual void | hpp::core::continuousCollisionChecking::Dichotomy::addObstacle (const CollisionObjectPtr_t &object) |
| Add an obstacle. More...
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virtual void | hpp::core::continuousCollisionChecking::Dichotomy::removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectPtr_t &obstacle) |
| Remove a collision pair between a joint and an obstacle. More...
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virtual | hpp::core::continuousCollisionChecking::Dichotomy::~Dichotomy () |
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| hpp::core::continuousCollisionChecking::Dichotomy::Dichotomy (const DevicePtr_t &robot, const value_type &tolerance) |
| Constructor. More...
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| hpp::core::continuousCollisionChecking::progressive::HPP_PREDEF_CLASS (BodyPairCollision) |
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static ProgressivePtr_t | hpp::core::continuousCollisionChecking::Progressive::create (const DevicePtr_t &robot, const value_type &tolerance) |
| Create instance and return shared pointer. More...
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virtual bool | hpp::core::continuousCollisionChecking::Progressive::validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart) |
| Compute a valid interval starting from the path beginning. More...
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virtual bool | hpp::core::continuousCollisionChecking::Progressive::validate (const PathPtr_t &path, bool reverse, PathPtr_t &validPart, ValidationReport &validationReport) |
| Compute a valid interval starting from the path beginning. More...
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virtual void | hpp::core::continuousCollisionChecking::Progressive::addObstacle (const CollisionObjectPtr_t &object) |
| Add an obstacle. More...
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virtual void | hpp::core::continuousCollisionChecking::Progressive::removeObstacleFromJoint (const JointPtr_t &joint, const CollisionObjectPtr_t &obstacle) |
| Remove a collision pair between a joint and an obstacle. More...
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virtual | hpp::core::continuousCollisionChecking::Progressive::~Progressive () |
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| hpp::core::continuousCollisionChecking::Progressive::Progressive (const DevicePtr_t &robot, const value_type &tolerance) |
| Constructor. More...
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Paths and configurations need to be validated with respect to various criteria (collision, joint bounds,...) during path planning and path optimization.
Validation of a configuration or of a path gives rise to a validation report that provide information if validation failed.
◆ BodyPairCollisionPtr_t [1/2]
◆ BodyPairCollisionPtr_t [2/2]
◆ BodyPairCollisions_t [1/2]
◆ BodyPairCollisions_t [2/2]
◆ addObstacle() [1/2]
virtual void hpp::core::continuousCollisionChecking::Dichotomy::addObstacle |
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const CollisionObjectPtr_t & |
object | ) |
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virtual |
Add an obstacle.
- Parameters
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object | obstacle added Add the object to each collision pair a body of which is the environment. care about obstacles. |
Reimplemented from hpp::core::PathValidation.
◆ addObstacle() [2/2]
virtual void hpp::core::continuousCollisionChecking::Progressive::addObstacle |
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const CollisionObjectPtr_t & |
object | ) |
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virtual |
Add an obstacle.
- Parameters
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object | obstacle added Add the object to each collision pair a body of which is the environment. care about obstacles. |
Reimplemented from hpp::core::PathValidation.
◆ create() [1/2]
Create instance and return shared pointer.
- Parameters
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robot | the robot for which collision checking is performed, |
tolerance | maximal penetration allowed. |
◆ create() [2/2]
Create instance and return shared pointer.
- Parameters
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robot | the robot for which collision checking is performed, |
tolerance | maximal penetration allowed. |
◆ Dichotomy()
hpp::core::continuousCollisionChecking::Dichotomy::Dichotomy |
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const DevicePtr_t & |
robot, |
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const value_type & |
tolerance |
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) |
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protected |
Constructor.
- Parameters
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robot | the robot for which collision checking is performed, |
tolerance | maximal penetration allowed. |
◆ HPP_PREDEF_CLASS() [1/2]
hpp::core::continuousCollisionChecking::progressive::HPP_PREDEF_CLASS |
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BodyPairCollision |
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◆ HPP_PREDEF_CLASS() [2/2]
hpp::core::continuousCollisionChecking::dichotomy::HPP_PREDEF_CLASS |
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BodyPairCollision |
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◆ Progressive()
hpp::core::continuousCollisionChecking::Progressive::Progressive |
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const DevicePtr_t & |
robot, |
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const value_type & |
tolerance |
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) |
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protected |
Constructor.
- Parameters
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robot | the robot for which collision checking is performed, |
tolerance | maximal penetration allowed. |
◆ removeObstacleFromJoint() [1/2]
virtual void hpp::core::continuousCollisionChecking::Dichotomy::removeObstacleFromJoint |
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const JointPtr_t & |
joint, |
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const CollisionObjectPtr_t & |
obstacle |
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) |
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virtual |
Remove a collision pair between a joint and an obstacle.
- Parameters
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the | joint that holds the inner objects, |
the | obstacle to remove. collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles. |
Reimplemented from hpp::core::PathValidation.
◆ removeObstacleFromJoint() [2/2]
virtual void hpp::core::continuousCollisionChecking::Progressive::removeObstacleFromJoint |
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const JointPtr_t & |
joint, |
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const CollisionObjectPtr_t & |
obstacle |
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) |
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virtual |
Remove a collision pair between a joint and an obstacle.
- Parameters
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the | joint that holds the inner objects, |
the | obstacle to remove. collision configuration validation needs to know about obstacles. This virtual method does nothing for configuration validation methods that do not care about obstacles. |
Reimplemented from hpp::core::PathValidation.
◆ validate() [1/4]
virtual bool hpp::core::continuousCollisionChecking::Progressive::validate |
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const PathPtr_t & |
path, |
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bool |
reverse, |
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PathPtr_t & |
validPart |
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) |
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virtual |
Compute a valid interval starting from the path beginning.
- Parameters
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path | the path to check for validity, |
reverse | if true check from the end, |
- Return values
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the | extracted valid part of the path, pointer to path if path is valid. |
report | information about the validation process. The type can be derived for specific implementation |
- Returns
- whether the whole path is valid. validationReport should be a of type CollisionPathValidationReport.
Implements hpp::core::PathValidation.
◆ validate() [2/4]
virtual bool hpp::core::continuousCollisionChecking::Dichotomy::validate |
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const PathPtr_t & |
path, |
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bool |
reverse, |
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PathPtr_t & |
validPart |
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) |
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virtual |
Compute a valid interval starting from the path beginning.
- Parameters
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path | the path to check for validity, |
reverse | if true check from the end, |
- Return values
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the | extracted valid part of the path, pointer to path if path is valid. |
report | information about the validation process. The type can be derived for specific implementation |
- Returns
- whether the whole path is valid. validationReport should be a of type CollisionPathValidationReport.
Implements hpp::core::PathValidation.
◆ validate() [3/4]
Compute a valid interval starting from the path beginning.
- Parameters
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path | the path to check for validity, |
reverse | if true check from the end, |
- Return values
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the | extracted valid part of the path, pointer to path if path is valid. |
- Returns
- whether the whole path is valid.
- Return values
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Implements hpp::core::PathValidation.
◆ validate() [4/4]
virtual bool hpp::core::continuousCollisionChecking::Progressive::validate |
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const PathPtr_t & |
path, |
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bool |
reverse, |
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PathPtr_t & |
validPart, |
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ValidationReport & |
validationReport |
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) |
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virtual |
Compute a valid interval starting from the path beginning.
- Parameters
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path | the path to check for validity, |
reverse | if true check from the end, |
- Return values
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the | extracted valid part of the path, pointer to path if path is valid. |
- Returns
- whether the whole path is valid.
- Return values
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validationReport | information about the validation process: which objects have been detected in collision and at which parameter along the path. validationReport should be a of type CollisionPathValidationReport. |
Implements hpp::core::PathValidation.
◆ ~Dichotomy()
virtual hpp::core::continuousCollisionChecking::Dichotomy::~Dichotomy |
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◆ ~Progressive()
virtual hpp::core::continuousCollisionChecking::Progressive::~Progressive |
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virtual |